Parameter-robust linear quadratic Gaussian technique for multi-agent slung load transportation

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dc.contributor.author Lee, Hae-In
dc.contributor.author Yoo, Dong-Wan
dc.contributor.author Lee, Byung-Yoon
dc.contributor.author Moon, Gun-Hee
dc.contributor.author Lee, Dong-Yeon
dc.contributor.author Tahk, Min-Jea
dc.contributor.author Shin, Hyo-Sang
dc.date.accessioned 2017-11-21T17:54:33Z
dc.date.available 2017-11-21T17:54:33Z
dc.date.issued 2017-09-14
dc.identifier.citation Lee H-I, Yoo D-W, Lee B-Y, Moon G-H, Lee D-Y, Tahk M-J, Shin H-S, Parameter-robust linear quadratic Gaussian technique for multi-agent slung load transportation, Aerospace Science and Technology, Volume 71, December 2017, Pages 119-127 en_UK
dc.identifier.issn 1270-9638
dc.identifier.uri http://dx.doi.org/10.1016/j.ast.2017.09.014
dc.identifier.uri http://dspace.lib.cranfield.ac.uk/handle/1826/12727
dc.description.abstract This paper copes with parameter-robust controller design for transportation system by multiple unmanned aerial vehicles. The transportation is designed in the form of string connection. Minimal state-space realization of slung-load dynamics is obtained by Newtonian approach with spherical coordinates. Linear quadratic Gaussian / loop transfer recovery (LQG/LTR) is implemented to control the position and attitude of all the vehicles and payloads. The controller's robustness against variation of payload mass is improved using parameter-robust linear quadratic Gaussian (PRLQG) method. Numerical simulations are conducted with several transportation cases. The result verifies that LQG/LTR shows fast performance while PRLQG has its strong point in robustness against system variation. en_UK
dc.language.iso en en_UK
dc.publisher Elsevier en_UK
dc.rights Attribution-NonCommercial-NoDerivatives 4.0 International
dc.rights.uri http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subject Unmanned aerial vehicle en_UK
dc.subject Slung-load dynamics en_UK
dc.subject Linear quadratic Gaussian en_UK
dc.subject Loop transfer recovery en_UK
dc.subject Parameter-robust control en_UK
dc.title Parameter-robust linear quadratic Gaussian technique for multi-agent slung load transportation en_UK
dc.type Article en_UK


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